JPH10185591A - Method for guiding vehicle by predicting its course - Google Patents

Abstract

PROBLEM TO BE SOLVED: To prevent an accident, e.g. crash, by notifying a driver of the positional relationship to peripheral objects when a vehicle is traveling on a current course. SOLUTION: A system control section 10 principally performs a navigation function wherein a peripheral object sense signal is received from a peripheral object sensor 26 in order to grasp the position of an obstacle on the periphery of a vehicle and a steering sense signal of a current vehicle is received from a steering sensor 28 in order to calculate the future traveling direction of the vehicle. Car body information, e.g. width and length of a vehicle, is read out from a car body information memory section 30, a traveling course of the vehicle is predicted based on the car body information and the traveling direction of the vehicle and then information for displaying a traveling course is generated and provided to a screen display 14. The screen display 14 displays any one of a navigation screen, a peripheral object or a future course under control of the screen display 14 or the system control section 10. Since a driver is notified of a predicted relationship to peripheral objects at the time of traveling on a current course, the driver can be provided with more correct drive information.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a navigation method for a mobile object, and more particularly to a method for predicting and guiding the progress of a vehicle.

[0002]

2. Description of the Related Art At present, GPS (Global Positioning System: GPS) for confirming a current position and a moving speed and determining a moving route is used for various moving objects such as a ship, an aircraft, and an automobile.
Global Positioning System) A position measuring device is mounted and used. The GPS position measuring device receives a radio wave indicating the latitude, longitude, altitude, and the like from the GPS, searches for the current position of the moving object, and then displays and notifies the user of the map information including the current position. That is, the navigation device displays the GPS on the map displayed on the screen display.
The current position of the magnetic mobile is displayed using the information received from the mobile terminal.

[0003] Normally, the navigation device displays the traveling direction of the moving body, the distance to the destination, the current moving speed of the moving body, the route set by the user before traveling, the optimal route to the destination, and the like. Various kinds of information to the user. By mounting such a navigation device on a vehicle, a driver can obtain a lot of traveling information. However, even if the navigation device is mounted, it is not easy to cope with a traveling environment that deteriorates with time. For example, the demand for vehicles is rapidly increasing, but the space is limited, so that parking spaces are gradually becoming insufficient, and road conditions are becoming more and more complicated in proportion to the increase in vehicles. As the number of vehicles increases in this way, the chance of contact between one's own vehicle and another vehicle increases, and the probability of occurrence of an accident increases accordingly. Such a contact accident frequently occurs even when it is difficult to grasp the surrounding situation, such as when parking the vehicle or leaving the vehicle. In particular, the driver is vulnerable to see the people in the blind spots, which may cause a fatal accident.

As a technique for solving such a problem, there is Japanese Patent Application No. 95-56570 filed by the applicant of the present invention on December 26, 1995 with the Korean Patent Office. Japanese Patent No. 95-56570 relates to a navigation device having a function of displaying a surrounding situation and a method thereof. The navigation apparatus and the navigation method include information and GP detected by a speed sensor and a gyro sensor.
Searching the current position of the vehicle using information provided from S, detecting an object located around the vehicle, calculating the position of the peripheral object, and displaying the current vehicle position and the peripheral object. And

The navigation device and method merely display the current vehicle position and surrounding objects only. For this reason, it is not possible to know what relationship the surrounding object has with the vehicle when the vehicle advances. That is, when the vehicle moves forward or backward at the current directional angle of the vehicle, it cannot be determined whether the vehicle collides with a surrounding object. As a result, the driver must determine the current position of the vehicle after grasping the current directivity angle and then proceeding to which position.

[0006] It is easy to grasp the directivity angle during driving, but not when the vehicle is stopped. And
There is a problem that it is more difficult to grasp the traveling direction in the case of backward travel than in the case of forward travel even if the directional angle is known. As described above, the conventional navigation apparatus having the function of displaying the surrounding situation and the method thereof merely provide information on the current position of the vehicle and the surrounding situation. As a result, there is an inconvenience that when the vehicle advances at the current directional angle of the vehicle, the driver has to judge himself / herself in relation to the surrounding objects.

[0007]

SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to predict the relationship between a vehicle and a surrounding object when the vehicle travels at the current directional angle of the vehicle, and to predict the progress of the vehicle to inform the driver of this. It is to provide a method for providing guidance.

[0008]

According to the present invention, there is provided a method for predicting and guiding the progress of a vehicle, comprising the steps of searching for a current position of the vehicle and a position of a peripheral object. And a trajectory angle searching step of searching for a current directional angle of the vehicle, and a traveling trajectory displaying step of predicting a case in which the vehicle travels at the directional angle from the current position and displaying a traveling trajectory.

[0009]

Preferred embodiments of the present invention will be described below in detail with reference to the accompanying drawings. Many specific details are provided for a more general understanding of the invention in the following description and the annexed drawings. It will be apparent to one of ordinary skill in the art that the present invention may be practiced without these specific details. A detailed description of known functions and configurations that may obscure the gist of the present invention will be omitted.

FIG. 1 is a block diagram showing a navigation apparatus for predicting and guiding the progress of a vehicle according to a preferred embodiment of the present invention. The GPS receiver 16 receives position information transmitted from a plurality of satellites belonging to the GPS through the antenna ANT, calculates pseudo coordinate values of the current position, and provides the generated position information to the current position calculator 12. After sensing the speed of the vehicle, the speed sensor 18 outputs speed information in the form of a pulse or a voltage to the current position calculating unit 12.
To provide. The azimuth sensor 20 provides the current position information in the form of a pulse or a voltage with respect to the traveling direction of the vehicle to the current position calculator 12.

The current position calculating unit 12 receives the position information from the GPS receiving unit 16, the speed information from the speed sensor 18, and the traveling direction information from the azimuth sensor 20, and calculates the current position information of the vehicle. Search. The map information storage unit 22 of FIG. 1 stores the map information and other additional information,
When there is a request from the system control unit 10, the map information is transmitted to the system control unit 10. The operation unit 24 includes a number of keys to interface the driver with the system control unit 10. The peripheral object detection sensor 26 measures a distance to a peripheral object by transmitting and detecting a light beam, a radio wave or a sound wave like an infrared sensor.

FIG. 2 shows an example in which the peripheral object detection sensor 26 is mounted on a vehicle. As shown in the figure, a large number of peripheral object detection sensors 26 are mounted on the vehicle CAR in order to accurately detect objects around the vehicle CAR. The front sensors FS1 to FS4 of FIG. 2 detect an object in front of the vehicle CAR, the rear sensors BS1 to BS4 detect an object behind the vehicle CAR, and the right sensors RS1 to RS6 detect an object on the right of the vehicle CAR. Sensing, left sensors LS1 to LS
6 detects an object on the left side of the vehicle CAR.

By mounting the peripheral object detection sensor 26 on the vehicle CAR in this way, it is possible to accurately detect objects in all directions of the vehicle CAR. Steering sensor 2
Numeral 8 senses the steering angle connected to the front wheels of the vehicle, that is, the directional angle of the front wheels of the vehicle by sensing the rotation speed of the cab with an encoder or the like. The vehicle body information storage unit 30 stores the width, length, and the like of the vehicle, and provides the vehicle width to the system control unit 10 in response to a request from the system control unit 10.

The system control unit 10 of the navigation device performs a navigation function as a main function, and receives a peripheral object detection signal from the peripheral object detection sensor 26 to grasp the position of an obstacle around the vehicle. Then, the vehicle receives a steering detection signal of the current vehicle from the steering sensor 28 and calculates the backward traveling direction of the vehicle. Then, the vehicle information such as the width and length of the vehicle is read from the vehicle information storage unit 30 to predict the traveling route of the vehicle based on the vehicle information and the traveling direction of the vehicle, and display information for displaying the traveling route is displayed. Generated and provided to the screen display 14.

The screen display 14 displays a navigation screen under the control of the system control unit 10,
Alternatively, a surrounding object is displayed, or a backward traveling route of the vehicle is displayed. FIG. 3 is a flowchart illustrating a method of predicting and guiding the progress of a vehicle using a navigation device according to a preferred embodiment of the present invention. The flowchart shown in FIG. 7 is performed when the user inputs a key to instruct parking performance using the operation unit 24. In step 32 of FIG. 3, the system control unit 10 searches for the position of the vehicle and the positions of the surrounding objects. The system control unit 10 can search the position of the vehicle by receiving the provision of the current position information from the current position calculation unit 12. Then, a search can be performed by receiving a peripheral object detection signal from the peripheral object detection sensor 26 that senses the distance from the peripheral object in all directions of the vehicle.

When the search for the current position information and the position of the peripheral object is completed, the system control unit 10 performs 34 steps. In operation 34, the system controller 10 displays the position of the vehicle and the positions of the surrounding objects on the screen display 14. When the display is completed, the system controller 10 performs step 36. In step 36, the system control unit 10 searches for the directional angle of the vehicle. The directional angle of the vehicle can be determined by searching for a steering detection signal of a steering sensor 28 provided in a driver's cab. When the steering angle is searched for by searching the steering sensing signal, the system control unit 10 performs step 38. In step 38, the system control unit 10 searches whether to display a trajectory when moving forward.

At this time, the user inputs a forward trajectory display key of the operation unit, so that the system control unit 1
A forward trajectory may be displayed at zero. If it is determined in step 38 that the user has input a forward trajectory display key, the system control unit 10 performs step 40,
If the user does not input the forward trajectory display key, step 44 is performed. In step 40, the system control unit 10
Generates data for displaying a forward trajectory according to a directivity angle, and displays data for displaying the forward trajectory and data for displaying a portion where the forward trajectory overlaps a surrounding object, that is, data for displaying a collision expected portion, on the screen display 14. To provide. The screen display 14 displays the forward trajectory based on the data for displaying the forward trajectory and the data for displaying the expected collision portion, and displays the expected collision portion.

In step 44, the system control unit 10 generates data for displaying the backward trajectory according to the directional angle, and displays the data for displaying the backward trajectory, and a portion where the backward trajectory overlaps the surrounding object, ie, a collision. Data for displaying the expected portion is provided to the screen display 14. The screen display 14 displays the reverse trajectory based on the data for displaying the reverse trajectory and the data for displaying the expected collision portion, and displays the expected collision portion.

Next, the display will be described in detail with reference to FIG. 4 which shows the trajectory of the vehicle as described above. First, the screen display 14 is
At this stage, the current position of the vehicle CAR and the surrounding objects S1 to S3 are displayed. In FIG. 4, the vehicle CAR is displayed at the center, and the peripheral objects S1 to S3 detected by the peripheral object sensor 26 are displayed.

When the user inputs the forward trajectory display key in such a state, the screen display 14 displays the forward trajectory indicated by a broken line at step 40. Here, the forward trajectory is indicated by a broken line in FIG. 4, but the forward trajectory may be displayed by a line or surface of a different hue, or may be displayed in another pattern. In FIG. 4, the forward trajectory overlaps with the surrounding object S1, and this portion becomes a collision expected portion. The expected collision portion may be displayed in a different color or pattern.

When the user inputs the reverse trajectory display key, the screen display 14 displays the reverse trajectory in one-dot chain line at step 44. Here, the reverse trajectory is shown by a dashed line in FIG. 4, but the reverse trajectory may be displayed by a line or surface of a different hue, or may be displayed by another pattern. In FIG. 4, the backward trajectory and the surrounding object S3
Overlap, and this portion is a collision expected portion. The expected collision portion may also be displayed in a different color or pattern. The superimposed portion indicates that there is a possibility that the vehicle CAR may collide with a surrounding object when moving backward.

When the display of the forward trajectory and the expected collision portion is completed, the system controller 10 performs 42 steps. In step 42, the system control unit 10 searches for the minimum distance between the surrounding object and the vehicle when moving forward along the forward path. That is, in FIG. 4, the minimum distance between the vehicle CAR and the surrounding object S1 is FM. When the search for the minimum distance is completed, the system control unit 10 performs 48 steps.

When the display of the portion overlapping the reverse trajectory is completed, the system controller 10 performs 46 steps. In step 46, the system control unit 10 measures the minimum distance between the surrounding object and the vehicle when the vehicle moves backward along the reverse trajectory. That is, in FIG. 4, the minimum distance between the vehicle CAR and the surrounding object S3 is BM. When the search for the minimum distance is completed, the system control unit 10 performs 48 steps.

In step 48, the system control unit 10 searches whether the minimum distance is smaller than the limit distance. At this time,
The limit distance is a minimum distance that does not cause any trouble even when the vehicle approaches a surrounding object. That is, if the minimum distance is smaller than the limit distance, there is a risk of collision with a surrounding object.
When the search for the minimum distance is completed, the system control unit 10
Searches for whether the searched minimum distance is smaller than the limit distance. If the minimum distance is smaller than the limit distance, 50 steps are performed, and if the minimum distance is larger than the limit distance, 3 steps are performed.
Perform two steps. In step 50, the system control unit 10 generates an alarm sound. The warning sound informs the driver that there is a risk of collision with surrounding objects when the vehicle is traveling. When the generation of the alarm sound ends, the system control unit 1
0 performs the 32 steps.

On the other hand, the forward or backward trajectory is displayed by the driver inputting the forward or backward trajectory display in step 38. However, after providing the sensor for detecting the gear position to the gear, When the position of the gear is at the position where the vehicle moves forward, the forward trajectory can be displayed, and when the position of the gear is at the position where the vehicle travels backward, the reverse trajectory can be displayed.

As described above, according to the present invention, when the vehicle travels at the current directional angle of the vehicle, the relationship between the vehicle and surrounding objects is predicted and the driver is informed of the relationship. Can be provided.

[0027]

As described above, the present invention displays a peripheral object presently around a vehicle. And
When the vehicle travels at the current directional angle of the vehicle, whether or not there is a risk of colliding with the surrounding object is predicted in advance and the driver is notified. Thereby, the driver can predict the danger of collision in advance when driving in a narrow place or a place with many obstacles, so that there is an advantage that an accident can be prevented beforehand.

[Brief description of the drawings]

FIG. 1 is a block diagram of a navigation device for predicting and guiding the progress of a vehicle according to a preferred embodiment of the present invention.

FIG. 2 is a diagram showing an example in which the peripheral object detection sensor of FIG. 1 is mounted on a vehicle.

FIG. 3 is a flowchart of a method for predicting and guiding the progress of a vehicle according to a preferred embodiment of the present invention;

FIG. 4 is a diagram illustrating an example of predicting and guiding the progress of a vehicle according to an embodiment of the present invention.

[Description of Signs] 10 System control unit 12 Current position calculation unit 14 Screen display 16 GPS reception unit 18 Speed sensor 20 Azimuth sensor 22 Map information storage unit 24 Operation unit 26 Peripheral object detection sensor 28 Steering detection sensor 30 Body information storage Department

Claims (5)

[Claims] 1. A method for predicting and guiding the progress of a vehicle, comprising: a position searching step of searching a current position of the vehicle and a position of a surrounding object; and a directional angle searching step of searching a current directional angle of the vehicle. Displaying a progress trajectory by predicting a case where the vehicle travels at the pointing angle from the current position, and displaying a progress trajectory. 2. The method of predicting and guiding the progress of a vehicle, further comprising a step of displaying a predicted collision portion where the predicted travel trajectory overlaps a surrounding object after displaying the predicted travel trajectory. A method of predicting and guiding the progress of a moving vehicle. 3. A method for predicting and guiding the progress of a vehicle, comprising: a minimum distance search step of searching for a minimum distance between a peripheral object and the vehicle along the travel trajectory; The method of claim 1, further comprising: generating an alarm sound when the distance is smaller than the limit distance. 4. A forward trajectory display step of displaying a forward trajectory if the gear of the vehicle is at a position for performing forward travel, and a forward trajectory display step of displaying the forward trajectory if the gear is at a position for performing reverse travel. The method of claim 1, further comprising displaying a reverse trajectory for displaying a reverse trajectory. 5. The moving trajectory display step comprises: displaying a forward trajectory when a user inputs a forward trajectory display key; and displaying a forward trajectory display key when the user inputs a backward trajectory display key. 2. The method of claim 1, further comprising displaying a reverse trajectory for displaying a reverse trajectory.